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Four-connecting rod mechanism and inspection robot with same

A technology of a four-bar linkage mechanism and a connecting rod, which is applied in the field of inspection robots, can solve the problems of inconvenient inspection and transportation of robots, complex structure of inspection robots, affecting the efficiency of inspection inspections, etc. The effect of strong obstacle crossing ability and short obstacle crossing time

Active Publication Date: 2019-05-21
HANGZHOU SHENHAO TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, although the inspection robot can realize the basic obstacle-crossing function, the inspection robot adjusts the driving wheel through the clamping mechanism and the opening and closing mechanism, so that the driving wheel can be smoothly matched on the wire, but the clamping mechanism and the opening and closing mechanism can be used to adjust the driving wheel. When the closing mechanism is opened, there is a risk that the inspection robot will fall from the transmission line, which poses a great safety hazard
In addition, the structure of the inspection robot is complex, so it is difficult to control, and the volume is large, which brings inconvenience to the inspection and transportation of the robot and affects the efficiency of inspection

Method used

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  • Four-connecting rod mechanism and inspection robot with same
  • Four-connecting rod mechanism and inspection robot with same
  • Four-connecting rod mechanism and inspection robot with same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] see figure 1 , a patrol robot, comprising a control box 1, a main bracket 2, a four-bar linkage mechanism 3, a traveling mechanism 4 and a safety mechanism 5, the lower side of the middle part of the main bracket 2 is provided with the control box 1, and the control box 1 There are various control units, motor drivers and other electrical components inside. The four-bar linkage mechanism 3 is provided on both ends of the main bracket 2, and the walking mechanism 4 is provided on the top side of the four-bar linkage mechanism 3. Said safety mechanism 5 is provided on said running mechanism 4 . Specifically, the four-bar linkage mechanism 3, the walking mechanism 4 and the safety mechanism 5 are all provided with two pairs, forming the forearm part and the rear arm part of the inspection robot. The forearm part is located at the front of the main support 2, and the rear arm part is located at The rear part of the main support 2, the forearm part and the rear arm part hav...

Embodiment 2

[0073] The difference between this embodiment and embodiment 1 is: for details, refer to Figure 12 with Figure 13, The four-bar linkage mechanism 3 can be changed into an electric lifting rod mechanism driven by a screw motor and can also realize the same function, and other technical features are the same as in embodiment 1. Specifically, the electric lifting rod mechanism driven by the lead screw motor includes a bottom rotation adjustment motor 39, a vertical cylinder 40 and a lead screw motor (not shown in the figure), and the rotation adjustment motor 39 is located at the bottom of the screw motor drive. The bottom of the electric elevating rod mechanism is the same as the joint motor 7 in Embodiment 1. The top of the rotation adjustment motor 39 is provided with a vertical cylinder 40, and the vertical cylinder 40 is provided with a screw motor connected with a lifting rod. Bracket9.

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Abstract

The invention discloses a four-connecting rod mechanism and an inspection robot with the same. The four-connecting rod mechanism comprises base connecting rods, joint motors, lifting rod driving motors and lifting supports; the lifting rod driving motors are horizontally arranged at the upper parts of the base connecting rods; the joint motors are vertically arranged at the lower parts of the baseconnecting rods; the lifting rod driving motors are connected with driving joint assemblies; the driving joint assemblies are connected to the upper parts of the lifting supports; the lower parts ofthe base connecting rods are provided with driven joint assemblies; and the driven joint assemblies are connected to the lower parts of the lifting supports. The inspection robot is good in obstacle crossing capability, large in climbing angle, stable in structure, small in size, light in weight, high in safety during walking, high in control precision and good in real-time performance; and especially the robot is convenient to adjust, so that an obstacle can be crossed smoothly, and the obstacle crossing efficiency is improved.

Description

technical field [0001] The invention relates to the field of inspection robots, in particular to a four-bar linkage mechanism and an inspection robot with the four-bar linkage mechanism. Background technique [0002] Due to the large number of people in our country and the complicated geographical location of many remote areas, they have been plagued by no electricity for a long time. In recent years, with the development of my country's national economy, many remote areas have gradually realized the popularization of power resources. However, due to the long distance, using high-voltage transmission lines alone will greatly increase economic investment, so ultra-high-voltage transmission lines came into being. The development of mobile robot technology provides a new technical platform for the inspection of overhead ultra-high voltage power lines. However, based on the actual situation, most inspection robots have limited ability to overcome obstacles, especially they canno...

Claims

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Application Information

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IPC IPC(8): H02G1/02B61B7/06
Inventor 陈如申黎勇跃蔡兆祝杨克己
Owner HANGZHOU SHENHAO TECH
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